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Title
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Mobile camera localization using Apollonius circles and virtual landmarks
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Author
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Abstract
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| We investigate the localization of a camera subject to a planar motion with horizontal optical axis in the presence of known vertical landmarks. Under these assumptions, a calibrated camera can measure the distance to the viewed landmarks. We propose to replace the trilateration method by intersecting a pair of Chasles-Apollonius circles. In the case of square pixels but unknown focal length we introduce a new method to recover the camera position from one image with three vertical landmarks. To this end we consider virtual landmarks and Apollonius-like circles. We extend this method in order to deal with an unknown principal point by using four landmarks. |
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Language
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English
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Source (journal)
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Journal of intelligent and robotic systems: theory and applications. - Dordrecht
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Publication
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Dordrecht
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2010
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ISSN
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0921-0296
[print]
1573-0409
[online]
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Volume/pages
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58
:3/4
(2010)
, p. 287-308
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ISI
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000277024200005
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Full text (Publisher's DOI)
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Full text (publisher's version - intranet only)
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